Pipeline insertion system

Abstract

A pipeline insertion system may include an insertion device outside a tunnel that includes an insertion device frame and a movable clamp device in slidable engagement with the insertion device frame. A drive may cause the movable clamp device engaged with a pipeline to move between a first position and a second position along the frame. Inside the tunnel, the system may also include a plurality of support frames remote from the insertion device and remote from each other which support the pipeline on bearings as the pipeline is pushed (or pulled) by the insertion device through the bores of a plurality of housing segments mounted in the tunnel. A controller is operative to control the drive and the movable clamp device responsive to transducers which measure pipeline slippage, thrust force, and clamping pressure.

What is claimed is: 
     
       1. At least one non-transitory computer readable media comprising executable instructions operative to cause at least one controller in operative connection with a pipeline insertion device to carry out a method comprising:
 a) through operation of the at least one controller, causing a movable clamp device included in the pipeline insertion device to clamp at least one portion of a pipeline, wherein the pipeline is at least one kilometer in length, wherein the pipeline insertion device includes an insertion device frame, the movable clamp device in slidable engagement with the insertion device frame, and at least one drive, wherein the movable clamp device is operative to move between a first position and a second position along the insertion device frame, wherein the movable clamp device is operatively configured to change between a first state and a second state, wherein in the first state the movable clamp device is operative to clamp the at least one portion of the pipeline and prevent relative movement between the movable clamp device and the pipeline, wherein in the second state the movable clamp device is operative to release the at least one portion of the pipeline and permit relative movement between the movable clamp device and the pipeline; and 
 b) through operation of the at least one controller causing the at least one drive to move the movable clamp device from the first position to the second position in a first direction along the frame, which causes portions of the pipeline to move on a plurality of spaced apart support frames positioned in at least one of; in a tunnel; over land; or a combination thereof, wherein each support frame includes at least one roller operative to contact the pipeline as the pipeline moves relative to each support frame, wherein the support frames are positioned in spaced apart relation spanning a distance of at least one kilometer, wherein the support frames are aligned to receive the moving pipeline extending in a substantially straight line for at least one kilometer; 
 c) through operation of the at least one controller, causing the movable clamp device to release the at least one portion of the pipeline; and 
 d) through operation of the at least one controller, causing the at least one drive to move the movable clamp device from the second position to the first position in a second direction that is opposite the first direction without moving the pipeline relative to the support frames. 
 
     
     
       2. The computer readable media according to  claim 1 , wherein in (a) the insertion device frame includes at least one stationary clamp device, wherein the movable clamp device is operative to move relative to both the insertion device frame and the stationary clamp device, wherein the stationary clamp device is operative to receive at least a portion of the pipeline therein, wherein the at least one controller is operatively configured to cause the stationary clamp device to change between a first state and a second state, wherein in the first state, the stationary clamp device is operative to clamp at least one further portion of the pipeline and prevent relative movement between the stationary clamp device and the pipeline, wherein in the second state the stationary clamp device is operative to release the at least one further portion of the pipeline and permit relative movement between the stationary clamp device and the pipeline;
 wherein the method further comprises: 
 e) prior to (b), through operation of the at least one controller causing the stationary clamp device to change to the second state so as to permit relative movement between the stationary clamp device and the pipeline; 
 f) subsequent to (b) and prior to (d) through operation of the at least one controller causing the stationary clamp device to change to the second state so as to clamp at least one further portion of the pipeline and prevent relative movement between the stationary clamp device and the pipeline during (d). 
 
     
     
       3. The computer readable media according to  claim 1 , wherein in (a) the movable clamp device includes at least one stationary portion and at least one movable portion, wherein (a) includes the at least one controller causing the at least one movable portion to move between a first position and a second position relative to the at least one stationary portion, wherein the at least one movable portion in the first position rigidly clamps the pipeline between the at least one stationary portion and the at least one movable portion, wherein the at least one movable portion in the second position is relatively farther from the at least one stationary portion than when the at least one movable portion is in the first position, wherein the first state of the movable clamp device includes the at least one movable portion in the first position, wherein the second state of the movable clamp device includes the at least one movable portion in the second position. 
     
     
       4. The computer readable media according to  claim 3 , wherein the movable clamp device includes at least three movable portions positioned to move in three different respective radial directions with respect to a longitudinal axis of the pipeline, wherein the movable portions include pads that are operative to contact the outer surface of the pipeline, wherein the movable clamp device includes hydraulic cylinders which are operative to selectively move the pads of the movable portions between the first and second states, wherein (a) includes the at least one controller causing the hydraulic cylinders to operate. 
     
     
       5. The computer readable media according to  claim 3 , wherein the pipeline insertion device includes at least one first sensor operatively configured to be used by the at least one controller to determine if the pipeline moves relative to the movable clamp device when the at least one controller causes the at least one drive to move the movable clamp device relative to the insertion device frame,
 wherein (b) includes the at least one controller causing the at least one movable portion of the movable clamp device to provide an increased amount of force to be applied to the pipeline by the movable portion responsive to the first sensor detecting relative movement between the movable clamp device and the pipeline. 
 
     
     
       6. The computer readable media according to  claim 5 , wherein the pipeline insertion device includes at least one second sensor operatively configured to monitor an amount of pressure applied to the pipeline by the at least one movable portion of the movable clamp device,
 wherein (b) includes the at least one controller preventing the at least one movable portion of the movable clamp device from providing an amount of pressure on the pipeline that exceeds a predetermined threshold responsive to the at least one second sensor. 
 
     
     
       7. The computer readable media according to  claim 1 , wherein the pipeline insertion device includes at least one first sensor operatively configured to monitor an amount of force applied to the pipeline in the at least one direction by the movable clamp device when being caused to move by the at least one drive, wherein (b) includes the at least one controller causing the at least one drive to adjust the speed of movement of the movable clamp device relative to the frame responsive to the at least one first sensor. 
     
     
       8. A method of moving a pipeline comprising:
 a) clamping at least one portion of a pipeline with a movable clamp device included in a pipeline insertion device, wherein the pipeline is at least one kilometer in length, wherein the pipeline insertion device includes an insertion device frame, the movable clamp device in slidable engagement with the insertion device frame, and at least one drive, wherein the movable clamp device is operative to move between a first position and a second position along the insertion device frame, wherein the movable clamp device is operatively configured to change between a first state and a second state, wherein in the first state the movable clamp device is operative to clamp the at least one portion of the pipeline and prevent relative movement between the movable clamp device and the pipeline in at least one direction, wherein in the second state the movable clamp device is operative to release the at least one portion of the pipeline and permit relative movement between the movable clamp device and the pipeline; and 
 b) moving the movable clamp device with the at least one drive from the first position to the second position in a first direction along the insertion device frame, which causes portions of the pipeline to move on a plurality of spaced apart support frames positioned at least one of: in a tunnel; over land; or a combination thereof, wherein each support frame includes at least one roller operative to contact the pipeline as the pipeline moves relative to each support frame, wherein the support frames are positioned in spaced apart relation spanning a distance of at least one kilometer, wherein the support frames are aligned to receive the moving pipeline extending in a substantially straight line for at least one kilometer. 
 
     
     
       9. The method according to  claim 8 , wherein (b) includes causing portions of the pipeline to move within a channel in each of the spaced apart support frames, wherein each channel of each support frame includes the at least one roller that is operative to contact the pipeline as the pipeline moves through the channel, wherein the channels of the support frames are aligned to receive the moving pipeline extending in a substantially straight line therethrough for at least one kilometer. 
     
     
       10. The method according to  claim 9 , wherein (b) includes causing portions of the pipeline to move within bores in a plurality of housing segments and within the channels of the plurality of spaced apart support frames, which positions of the housing segments and support frames span a distance of at least one kilometer, wherein the support frames are respectively positioned between the bores of adjacent housing segments, such that the bores of the housing segments and the channels of the support frames are aligned to receive the pipeline extending in a substantially straight line therethrough for at least one kilometer. 
     
     
       11. The method according to  claim 8 , wherein in (b) the plurality of spaced apart support frames are positioned in a tunnel. 
     
     
       12. The method according to  claim 8 , wherein in (b) the plurality of spaced apart support frames are positioned across a wetland. 
     
     
       13. A method of moving a pipeline comprising:
 a) clamping at least one portion of a pipeline with a movable clamp device included in a pipeline insertion device, wherein the pipeline insertion device includes an insertion device frame, the movable clamp device in slidable engagement with the insertion device frame, and at least one drive, wherein the movable clamp device is operative to move between a first position and a second position along the insertion device frame, wherein the movable clamp device is operatively configured to change between a first state and a second state, wherein in the first state the movable clamp device is operative to clamp the at least one portion of the pipeline and prevent relative movement between the movable clamp device and the pipeline in at least one direction, wherein in the second state the movable clamp device is operative to release the at least one portion of the pipeline and permit relative movement between the movable clamp device and the pipeline; and 
 b) moving the movable clamp device with the at least one drive from the first position to the second position in a first direction along the insertion device frame, which causes the pipeline to move on a plurality of spaced apart support frames positioned to direct the pipeline to move across a shoreline, wherein each support frame includes at least one roller operative to contact the pipeline as the pipeline moves relative to each support frame, wherein the support frames are positioned in spaced apart relation, wherein the support frames are aligned to receive the moving pipeline extending in a substantially straight line across the shoreline.